DB17-wjdDB17-w
DB17-j
DB17-d
DB17
DB17
DB17, DB17-jwd
DB17-wjd (TTIC)DB17-w
DB17-j
DB17-d
rviz
DB17-lc Duckiebot configurations
ssh-keygen
rqt_console
roslaunch
rviz
rostopic
catkin_make
rosrun
rostest
rospack
rosparam
rosdep
roswtf
rosbag
roscore
pkg_name
duckieteam
duckietown
duckietown_msgs
easy_algo
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easy_nodeeasy_node API
easy_node: the user’s point of view
easy_regression
what_the_duck
DB17-lGeneral rule in soldering
Shiying
Duckiebot DB17-l parts. The acquisition process is explained in Unit E-1 - Acquiring the parts for the Duckiebot DB17-lc.
The configurations are described in Unit C-1 - Duckiebot configurations.
Time: 30 minutes
A DB17-l Duckiebot
General rule in soldering:
(alternative instructions: how to solder on the PWM/Servo HAT)
Put the following components on the table according the Figure
add LSD board image, top and bottom.
Put the following components according the figure on the table:
Tips:
Solder all female headers to the bottom of the board. Alignment becomes easy if the female headers are plugged into the PWM heat, and the LSD board rests on top.
Solder all male headers to the top of the board. Male header positions are outlined on the silkscreen.
Parts list:
Instructions:
Connect LED accordingly to silkscreen indication on PRi 2 LSD board
silkscreen legend: Rx, Gx, Bx are red, green, and blue channels, accordingly, where x is the LED number; C is a common line (either common anode or common cathode)
For adafruit LEDs are common anode type. The longest pin is common anode. Single pin on the side of common is red channel. The two other pins are Green and Blue channels, with the blue furthest from the common pin.
Both types of LEDs are supported. Use shunt jumper to select either common anode (CA) or common cathode (CC) on 3-pin male header. Note, however, that all LEDs on the board must be of the same type.
Stack the boards
Screw the first eight standoffs into the Pi - provide hints on the location of standoffs and the suggested orientation of the boards w/r to the chassis
connect the camera to the Pi [image showing the connector ?]
Stack the DC/Stepper Motor HAT onto the Pi, aligning both sets of GPIO pins over each other and screw the standoffs to secure it. Try to not bend the camera connector too much during this step
Stack the 16-channel PWM/Servo HAT onto the Pi, both sets of GPIO pins over each other and screw the standoffs to secure it
Slide the battery between the two chassis plates
Power the PWM/Servo HAT and Pi connecting them to the battery with the cables included in the duckiebox
Power the DC/Stepper motor from the PWM/Servo HAT using the male-to-male cable in the duckiebox, connect the positive
connect the Pi to the board
Finished!